tatsuyaaaaaaa/so101_pick_red_dice_recorded_6d_all

该数据集是一个机器人操作任务数据集，专门用于拾取红色骰子的任务，使用LeRobot创建。数据集包含100个episodes，总计89739帧，帧率为30fps。数据结构包括动作（6维浮点数组，表示机器人关节位置和夹爪位置）、观测状态（6维浮点数组，表示机器人状态）、三个摄像头的图像观测（每个摄像头提供480x640x3的视频数据，编码为av1，无音频），以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人学习和控制任务，支持训练和验证。

license: apache-2.0
task_categories:
- 机器人学
tags:
- LeRobot(LeRobot)
configs:
- config_name: default
data_files: data/*/*.parquet
---

本数据集基于[LeRobot(LeRobot)](https://github.com/huggingface/lerobot)创建。

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=tatsuyaaaaaaa/so101_pick_red_dice_recorded_6d_all">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>

## 数据集说明

- **主页：** [需补充更多信息]
- **论文：** [需补充更多信息]
- **许可证：** apache-2.0

## 数据集结构

[meta/info.json]:
json
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 100,
"total_frames": 89739,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"肩关节偏航位置",
"肩关节俯仰位置",
"肘关节屈伸位置",
"腕关节屈伸位置",
"腕关节滚转位置",
"夹爪位置"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"肩关节偏航位置",
"肩关节俯仰位置",
"肘关节屈伸位置",
"腕关节屈伸位置",
"腕关节滚转位置",
"夹爪位置"
]
},
"observation.images.camera1": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera2": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera3": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}

## 引用

**BibTeX：**

bibtex
[需补充更多信息]